// Copyright 2010-2013, A. Hornung, M. Philips. All rights reserved.
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#ifndef OCTOMAP_SERVER__OCTOMAP_SERVER_MULTILAYER_HPP_
#define OCTOMAP_SERVER__OCTOMAP_SERVER_MULTILAYER_HPP_

#include <octomap_server/octomap_server.hpp>

#include <string>
#include <vector>

namespace octomap_server
{
class OctomapServerMultilayer : public OctomapServer
{
public:
  explicit OctomapServerMultilayer(const rclcpp::NodeOptions & node_options);

protected:
  struct ProjectedMap
  {
    double min_z;
    double max_z;
    double z;  // for visualization
    std::string name;
    OccupancyGrid map;
  };
  using MultilevelGrid = std::vector<ProjectedMap>;

  /// hook that is called after traversing all nodes
  virtual void handlePreNodeTraversal(const rclcpp::Time & rostime);

  /// updates the downprojected 2D map as either occupied or free
  virtual void update2DMap(const OcTreeT::iterator & it, bool occupied);

  /// hook that is called after traversing all nodes
  virtual void handlePostNodeTraversal(const rclcpp::Time & rostime);

  std::vector<rclcpp::Publisher<OccupancyGrid>::SharedPtr> multi_map_pub_;

  std::vector<std::string> arm_links_;
  std::vector<double> arm_link_offsets_;

  MultilevelGrid multi_gridmap_;
};
}  // namespace octomap_server

#endif  // OCTOMAP_SERVER__OCTOMAP_SERVER_MULTILAYER_HPP_
